Control system and control device

ABSTRACT

This control system includes: a first arithmetic unit for doing cyclic execution of a first task to which one or a plurality of processes are allocated using a first control cycle; and a second arithmetic unit for doing cyclic execution of a second task to which one or a plurality of processes are allocated using a second control cycle that is longer than the first control cycle. For the first task, a first data collection process with a first input data as the target and a corresponding first data processing process are allocated. Depending on the setting via the support device, a second data collection process with a second input data as the target and a corresponding second data processing process are allocated to either of the first task and the second task.

TECHNICAL FIELD

The present invention relates to a control device and a control devicethat make it possible to realize input data processing efficiently usingcomputing resources.

BACKGROUND ART

At various production sites, there is a demand to detect abnormalitiesoccurring in machines, devices, or the like early and to improve thecapacity utilization rate. In a typical abnormality monitoring method,data is collected from machines or devices, and it is determined whethersome kind of abnormality has occurred on the basis of the collecteddata.

Such an abnormality monitoring process can also be realized by anupper-level device collecting data from a control device such as aprogrammable controller (PLC), but the implementation of the abnormalitymonitoring process in the control device makes it possible to realizefaster abnormality determination.

More specifically, in a control device, as disclosed in Japanese PatentNo. 4752983 (Patent Literature 1), an input and output program and acontrol program are repeatedly executed, and thus processing requiredfor control of a control target is realized. When the abnormalitymonitoring process is executed by the control device, commands requiredfor the abnormality monitoring process are included in the input andoutput program and the control program.

CITATION LIST Patent Literature [Patent Literature 1]

-   Japanese Patent No. 4752983

SUMMARY OF INVENTION Technical Problem

In a case where a plurality of control programs like that disclosed inPatent Literature 1 is executed in parallel, it is also possible to usea plurality of cores within a single processor, or to use a plurality ofprocessors.

However, even in a case where a plurality of cores or a plurality ofprocessors can be used as computing resources, there are some processesin which the computing resources cannot be used efficiently.

One objective of the present invention is to realize efficientprocessing in a case where a plurality of arithmetic units can be usedas computing resources.

Solution to Problem

According to an embodiment of the present invention, there is provided acontrol system including: a control device that executes a controlarithmetic for controlling a control target; and a support device thatsets content of the control arithmetic which is executed by the controldevice. The control device includes a first arithmetic unit forcyclically executing a first task to which one or a plurality ofprocesses is allocated in a first control cycle and a second arithmeticunit for cyclically executing a second task to which one or a pluralityof processes is allocated in a second control cycle that is longer thanthe first control cycle. The control arithmetic includes a datacollection process of collecting input data that is capable of beingreferred to by the control device and a data processing process ofprocessing the collected input data to generate new data. A first datacollection process with first input data as a target and a correspondingfirst data processing process are allocated to the first task. A seconddata collection process with second input data as a target and acorresponding second data processing process are allocated to either ofthe first task and the second task in accordance with a setting via thesupport device.

According to the present embodiment, the second data collection processwith the second input data as a target and the corresponding second dataprocessing process can be allocated to either of the first task and thesecond task in accordance with processing performance required for inputdata, the attribute of the input data, or the like, and thus it ispossible to realize efficient processing.

The control device may further include a third arithmetic unit forexecuting a third task to which one or a plurality of processes isallocated depending on a situation. According to this configuration, itis possible to provide an execution environment in which efficientprocessing can be executed depending on the situation in addition to thefirst task and the second task which are cyclically executed.

A process of storing data which is generated through the first dataprocessing process and the second data processing process may beallocated to the third task. According to this configuration, the datawhich is generated through the first data processing process and thesecond data processing process can be stored at an appropriate timing,and thus it is possible to make a series of processes until input datais processed and stored efficient.

A process of calculating a predetermined index from data which isgenerated through the first data processing process and the second dataprocessing process may be allocated to the third task. According to thisconfiguration, even in a case where the abnormality detection process orthe like is implemented, it is possible to make the process efficient.

The data processing process may include a process of calculating afeature amount from a plurality of pieces of input data collectedthrough the data collection process. According to this configuration,even in a case where the abnormality detection process or the like isimplemented, it is possible to make the process efficient.

The data processing process may include a process of converting theinput data collected through the data collection process into acorresponding physical quantity. According to this configuration,preprocessing or the like is not required in various analysis processesor the like, and thus it is possible to realize efficient datautilization.

The data processing process may include a process of forming one or aplurality of pieces of input data collected through the data collectionprocess into a predetermined format. According to this configuration,even in a case where data is required to be transferred to the outside,or the like, it is possible to realize efficient processing.

In a case where the second data collection process and the second dataprocessing process are capable of being allocated to both the first taskand the second task, the support device may accept a setting of whichtask these processes are allocated to. According to this configuration,it is possible to help a user allocate the data collection process andthe data processing process which are targets to an appropriate task outof the first task and the second task.

The support device may accept a change in an allocation destination taskof the second data collection process and the second data processingprocess. According to this configuration, even in a case where it isdetermined afterward that a task to which the data collection processand the data processing process have been previously allocated is notappropriate, it is possible to make an easy change in allocation to amore appropriate task.

According to another embodiment of the present invention, there isprovided a control device that executes a control arithmetic forcontrolling a control target. The control device includes: a firstarithmetic unit for cyclically executing a first task to which one or aplurality of processes is allocated in a first control cycle; and asecond arithmetic unit for cyclically executing a second task to whichone or a plurality of processes is allocated in a second control cyclethat is longer than the first control cycle. The control arithmeticincludes a data collection process of collecting input data that iscapable of being referred to by the control device and a data processingprocess of processing the collected input data to generate new data. Afirst data collection process with first input data as a target and acorresponding first data processing process are allocated to the firsttask. A second data collection process with second input data as atarget and a corresponding second data processing process are allocatedto either of the first task and the second task in accordance with anexternal setting.

According to the present embodiment, the second data collection processwith the second input data as a target and the corresponding second dataprocessing process can be allocated to either of the first task and thesecond task in accordance with processing performance required for inputdata, the attribute of the input data, or the like, and thus it ispossible to realize efficient processing.

Advantageous Effects of Invention

According to the present invention, it is possible to realize efficientprocessing in a case where a plurality of arithmetic units can be usedas computing resources.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating a main process of a control systemaccording to the present embodiment.

FIG. 2 is a schematic diagram illustrating an overall configurationexample of the control system according to the present embodiment.

FIG. 3 is a block diagram illustrating a hardware configuration exampleof a control device constituting the control system according to thepresent embodiment.

FIG. 4 is a block diagram illustrating a hardware configuration exampleof a support device constituting the control system according to thepresent embodiment.

FIG. 5 is a functional block diagram for realizing an abnormalitymonitoring process in the control system according to the presentembodiment.

FIG. 6 is a schematic diagram illustrating an example of cyclicexecution of a program in the control device constituting the controlsystem according to the present embodiment.

FIG. 7 is a schematic diagram illustrating an implementation examplerelating to the abnormality monitoring process in the control deviceconstituting the control system according to the present embodiment.

FIG. 8 is a schematic diagram illustrating another implementationexample relating to the abnormality monitoring process in the controldevice constituting the control system according to the presentembodiment.

FIG. 9 is a schematic diagram illustrating still another implementationexample relating to the abnormality monitoring process in the controldevice constituting the control system according to the presentembodiment.

FIG. 10 is a schematic diagram illustrating data processingcorresponding to the implementation example of the abnormalitymonitoring process shown in FIG. 8.

FIG. 11 is a schematic diagram illustrating data processingcorresponding to the implementation example of the abnormalitymonitoring process shown in FIG. 9.

FIG. 12 is a diagram illustrating an example of a user interface screenwhich is provided by the support device constituting the control systemaccording to the present embodiment.

FIG. 13 is a diagram illustrating an example of a user interface screenin a case where a cycle setting button on the user interface screen ofFIG. 12 is selected.

FIG. 14 is a diagram illustrating an example of a user interface screenin a case where an apply button on the user interface screen of FIG. 12is selected.

DESCRIPTION OF EMBODIMENTS

An embodiment of the present disclosure will be described in detail withreference to the accompanying drawings. Meanwhile, the same orequivalent portions in the drawings are denoted by the same referencenumerals and signs, and thus description thereof will not be repeated.

A. Application Example

As a typical example, processing when the present embodiment is appliedto an abnormality monitoring process of determining whether some kind ofabnormality has occurred in any monitoring target will be described, butthe present embodiment is not limited thereto, and can be applied to anyprocessing.

FIG. 1 is a diagram illustrating a main process of a control system 1according to the present embodiment. Referring to FIG. 1, a controldevice 100 constituting the control system 1 executes one or a pluralityof processes in units of “tasks” as a control arithmetic for controllinga control target.

In the present specification, a “task” is the execution unit of acontrol arithmetic, and is allocated one or a plurality of processes.FIG. 1 shows a primary fixed cycle task 70 which is cyclically executedin a primary cycle 71 (a first control cycle) and a fixed cycle task 80which is cyclically executed in a fixed cycle 81 (a second controlcycle).

The control device 100 includes a processor having a plurality of coresas will be described later, and is configured such that the primaryfixed cycle task 70 is cyclically executed by one core (a firstarithmetic unit) of the processor and the fixed cycle task 80 iscyclically executed by another core (a second arithmetic unit) of theprocessor. One or a plurality of processes is allocated to the primaryfixed cycle task 70 and the fixed cycle task 80.

As an example, the primary fixed cycle task 70 includes an I/O refreshprocess 72, a user program execution process 74, and a motion controlprocess 76. Similarly, the fixed cycle task 80 includes an I/O refreshprocess 82, a user program execution process 84, and a motion controlprocess 86. The process contents of the I/O refresh process 82, the userprogram execution process 84, and the motion control process 86 are thesame as the process contents of the I/O refresh process 72, the userprogram execution process 74, and the motion control process 76, exceptthat their execution cycles are different from each other.

A control arithmetic which is executed by the control device 100includes a data collection process 162 of collecting input data that iscapable of being referred to by the control device 100 and a dataprocessing process of processing the collected input data to generatenew data.

In the present specification, “input data” is a term including anystatus value, an internal status value, a system status value, and thelike capable of being referred to in a control arithmetic which isexecuted by the control device 100, in addition to data acquired from acontrol target which is acquired by a field device group 10 to bedescribed later and transferred to the control device 100.

As an example of the data processing process, in the followingdescription, a feature extraction process 164 of calculating a featureamount from a plurality of pieces of input data collected through thedata collection process 162 will be illustrated. The feature amountwhich is calculated through the feature extraction process 164 is usedfor an abnormality monitoring process to be described later. Anotherexample of the data processing process will be described later in thesection <I. Modification example>.

Typically, the data collection process 162 and the feature extractionprocess 164 (the data processing process) for input data in which dataprocessing in a short cycle is required are allocated to the primaryfixed cycle task 70.

On the other hand, the data collection process 162 and the featureextraction process 164 (the data processing process) for input data inwhich data processing in a relatively long cycle is required can beallocated to the primary fixed cycle task 70, or can be allocated to thefixed cycle task 80.

From the viewpoint of efficiently using computing resources, the datacollection process 162 and the feature extraction process 164 (the dataprocessing process) are allocated to any of the primary fixed cycle task70 and the fixed cycle task 80 in accordance with the setting via asupport device to be described later.

By making it possible to change an allocation destination task inaccordance with such a setting, it is possible to realize efficient useof computing resources.

B. Configuration Example of Control System

Next, a configuration example of the control system 1 according to thepresent embodiment will be described.

FIG. 2 is a schematic diagram illustrating an overall configurationexample of the control system 1 according to the present embodiment.Referring to FIG. 2, the control system 1 includes, as main components,the control device 100 that executes a control arithmetic forcontrolling a control target and a support device 200 that sets thecontent of a control arithmetic which is executed by the control device100. The control system 1 may further include an upper-level server 300and a display device (human machine interface; hereinafter also referredto as an “HMI”) 400 as optional components.

The control device 100 may be embodied as a kind of computer such as aprogrammable controller (PLC), and executes a control arithmetic forcontrolling a control target. The control device 100 has an abnormalitymonitoring function of determining whether some kind of abnormality hasoccurred in a monitoring target included in a control target.

The control device 100 is connected to the field device group 10 througha first field bus 2, and is connected to one or a plurality of HMIs 400through a second field bus 4. Further, the control device 100 isconnected to the upper-level server 300 through a local network 6. Thecontrol device 100 exchanges data with the connected devices througheach network.

The control device 100 has a collection function of collecting data(input data) which is acquired by the field device group 10 andtransferred to the control device 100.

As the first field bus 2 and the second field bus 4, it is preferable toadopt a network that performs fixed cycle communication in which timetaken until arrival of data is guaranteed. As a network that performssuch fixed cycle communication, EtherCAT (registered trademark) or thelike is known.

The field device group 10 includes a device that collects the statusvalue of a control target, a manufacturing device or a production linerelevant to control, or the like (hereinafter also collectively referredto as a “field”) as input data. An input relay, various sensors, or thelike is assumed as a device that collects such a status value. The fielddevice group 10 further includes a device that gives some kind of actionto a field on the basis of a command value (hereinafter also referred toas “output data”) which is generated by the control device 100. Anoutput relay, a contactor, a servo driver, a servo motor, and any otheractuators are assumed as a device that gives some kind of action to sucha field. The field device group 10 exchanges data including input dataand output data with the control device 100 through the first field bus2.

In the configuration example shown in FIG. 2, the field device group 10includes a remote input/output (I/O) device 12, a relay group 14, animage sensor 18, a camera 20, servo drivers 22, and servo motors 24.

The remote I/O device 12 includes a communication unit that performscommunication through the first field bus 2 and an input and output unit(hereinafter also referred to as an “I/O unit”) that acquires input dataand outputs output data. The input data and the output data areexchanged between the control device 100 and a field through such an I/Ounit. FIG. 2 shows an example in which digital signals are exchanged asthe input data and the output data through the relay group 14.

The I/O unit may be connected directly to a field bus. FIG. 2 shows anexample in which an I/O unit 16 is connected directly to the first fieldbus 2.

The image sensor 18 performs an image measurement process such aspattern matching on image data captured by the camera 20, and transmitsthe processing result to the control device 100.

The servo driver 22 drives the servo motor 24 in accordance with outputdata (such as, for example, a position command) from the control device100.

As described above, data is exchanged between the control device 100 andthe field device group 10 through the first field bus 2, while theexchanged data is updated in a very short cycle several hundred μsecorder to several tens of msec order. Meanwhile, such a process ofupdating the exchanged data is also referred to as an I/O refreshprocess.

The support device 200 is a device that supports preparation requiredfor the control device 100 to control a control target. Specifically,the support device 200 provides the development environment (such as aprogram creation and editing tool, a parser, or a compiler) of a programexecuted by the control device 100, a setting environment for settingparameters (configurations) of the control device 100 and variousdevices connected to the control device 100, a function of transmittinga generated user program to the control device 100, a function ofcorrecting and changing online a user program or the like executed onthe control device 100, and the like. Further, the support device 200also provides a function of setting learning data and parameters fordefining an abnormality monitoring process executed by the controldevice 100, or the like.

The upper-level server 300 is connected to the control device 100through the local network 6, and exchanges necessary data with thecontrol device 100. The upper-level server 300 has, for example, adatabase function, and collects data stored in the control device 100periodically or on an event basis. A general-purpose protocol such asEthernet (registered trademark) may be implemented in the local network6.

The HMI 400 is connected to the control device 100 through the secondfield bus 4, accepts an operation from a user, transmits a command orthe like according to the user's operation to the control device 100,and graphically displays processing results or the like in the controldevice 100.

C. Hardware Configuration Example of Each Device

Next, a hardware configuration example of a main device constituting thecontrol system 1 according to the present embodiment will be described.

(c1: Hardware Configuration Example of the Control Device 100)

FIG. 3 is a block diagram illustrating a hardware configuration exampleof the control device 100 constituting the control system 1 according tothe present embodiment. Referring to FIG. 3, the control device 100includes a processor 102 such as a central processing unit (CPU) or amicro-processing unit (MPU), a chipset 104, a main storage device 106, asecondary storage device 108, a local network controller 110, auniversal serial bus (USB) controller 112, a memory card interface 114,an internal bus controller 122, and field bus controllers 118 and 120.

The processor 102 reads out various programs stored in the secondarystorage device 108, and develops and executes the programs on the mainstorage device 106 to thereby realize control according to a controltarget and various processes to be described later. The processor 102includes a plurality of cores 1021, 1022, 1023, and 1024. Each of thecores 1021, 1022, 1023, and 1024 is equivalent to an arithmetic unit.Meanwhile, although only two cores are illustrated in FIG. 3, theprocessor 102 having more cores may be adopted without being limitedthereto.

The chipset 104 realizes processing as the entire control device 100 bycontrolling each component together with the processor 102.

The secondary storage device 108 stores a user program executed using anexecution environment provided by a system program 126 (equivalent to acontrol program) in addition to the system program 126 for realizing afunction provided by the control device 100.

The local network controller 110 controls exchange of data with anotherdevice with the local network 6. The USB controller 112 controlsexchange of data with the support device 200 through USB connection.

The memory card interface 114 is configured to be capable of attachingand detaching a memory card 116, and can write data to the memory card116 and read out various types of data (such as a user program or tracedata) from the memory card 116.

The internal bus controller 122 is an interface that exchanges data withI/O units 124-1, 124-2, . . . which are connected to the control device100.

The field bus controller 118 controls exchange of data with anotherdevice through the first field bus 2. Similarly, the field buscontroller 120 controls exchange of data with another device through thesecond field bus 4.

FIG. 3 shows an example in which a single processor 102 has four cores1021, 1022, 1024, and 1024, but the number of cores mounted in theprocessor 102 may be equal to or less than four, or may be more thanfour. Alternatively, a plurality of processors 102 having a single coremay be provided. In this case, each of the processors 102 is equivalentto an arithmetic unit. Further, a plurality of processors having aplurality of cores may be provided.

In addition, FIG. 3 shows a configuration example in which necessaryfunctions are provided by the processor 102 executing a program, butsome of these provided functions may be implemented using a dedicatedhardware circuit (such as, for example, an application specificintegrated circuit (ASIC) or a field-programmable gate array (FPGA)).

Further, a main part of the control device 100 may be realized usinghardware according to general-purpose architecture (for example, anindustrial personal computer based on a general-purpose personalcomputer). In this case, a virtualization technique may be used toexecute a plurality of operating systems (OS) having different uses inparallel and to execute a necessary application on each OS.

(c2: Hardware Configuration Example of Support Device 200)

Next, as an example, the support device 200 according to the presentembodiment is realized by executing a program using hardware accordingto general-purpose architecture (for example, a general-purpose personalcomputer).

FIG. 4 is a block diagram illustrating a hardware configuration exampleof the support device 200 constituting the control system 1 according tothe present embodiment. Referring to FIG. 4, the support device 200includes a processor 202 such as a CPU or an MPU, a drive 204, a mainstorage device 206, a secondary storage device 208, a USB controller212, a local network controller 214, an input unit 216, and a displayunit 218. These components are connected to each other through a bus220.

The processor 202 reads out various programs stored in the secondarystorage device 208, and develops and executes the programs on the mainstorage device 206 to thereby realize various processes to be describedlater.

The secondary storage device 208 is constituted by, for example, a harddisk drive (HDD), a solid state drive (SSD), or the like. The secondarystorage device 208 typically stores various programs including adevelopment program (not shown) for creating a user program which isexecuted in the support device 200, debugging the created program,defining a system configuration, setting various parameters, and thelike, a data mining tool 230, and a setting tool 240. The secondarystorage device 208 may store an OS and other necessary programs.

The drive 204 can write data to a storage medium 205 and read outvarious types of data (such as a user program, trace data, ortime-series data) from the storage medium 205. The storage medium 205includes, for example, the storage medium 205 (an optical storage mediumsuch as, for example, a digital versatile disc (DVD)) thatnon-transiently stores a computer readable program. The program or datastored in the storage medium 205 is read by the drive 204, and isinstalled in an internal storage area such as the secondary storagedevice 208.

Various programs which are executed by the support device 200 may beinstalled through the computer readable storage medium 205, or may beinstalled in the form of downloading the programs from a server deviceor the like on a network. In addition, functions which are provided bythe support device 200 according to the present embodiment may berealized in the form of using some of modules which are provided by anOS.

The USB controller 212 controls exchange of data with the control device100 through USB connection. The local network controller 214 controlsexchange of data with another device through any network.

The input unit 216 is constituted by a keyboard, a mouse, or the like,and accepts a user's operation. The display unit 218 is constituted by adisplay, various indicators, or the like, and outputs processing resultsor the like from the processor 202. A printer may be connected to thesupport device 200.

FIG. 4 shows a configuration example in which necessary functions areprovided by the processor 202 executing a program, but some or all ofthese provided functions may be implemented using a dedicated hardwarecircuit (such as, for example, an ASIC or an FPGA).

(c3: Hardware Configuration Example of Upper-Level Server 300)

As an example, the upper-level server 300 according to the presentembodiment is realized by executing a program using hardware accordingto general-purpose architecture (for example, a general-purpose server).The hardware configuration is the same as the hardware configuration ofthe support device 200 shown in FIG. 4, and thus detailed descriptionthereof will not be repeated.

(c4: Hardware Configuration Example of HMI 400)

As an example, the HMI 400 according to the present embodiment isrealized by executing a program using hardware according togeneral-purpose architecture (for example, an industrial personalcomputer based on a general-purpose personal computer). The hardwareconfiguration is the same as the hardware configuration of the supportdevice 200 shown in FIG. 4, and thus detailed description thereof willnot be repeated.

D: Abnormality Monitoring Process

Next, an abnormality monitoring process which is provided by the controlsystem 1 according to the present embodiment will be described.

FIG. 5 is a functional block diagram for realizing an abnormalitymonitoring process in the control system 1 according to the presentembodiment. Referring to FIG. 5, the control device 100 collects one ora plurality of pieces of input data (input data 1, input data 2, . . . ,input data n) from a monitoring target and extracts a feature amount tothereby output a monitoring result including a determination resultindicating the presence or absence of the occurrence of an abnormality.

In the present embodiment, the concept of a “frame” is introduced as aunit interval for determining whether some kind of abnormality hasoccurred in a monitoring target included in a control target. The framemeans a unit interval for determining whether some kind of abnormalityhas occurred in a monitoring target. Therefore, the determination ofwhether some kind of abnormality has occurred in a monitoring target isperformed for each frame.

More specifically, the control device 100 includes a data set generationunit 152, a feature extraction unit 154, a score calculation unit 156,and a determination unit 158 as main functional components relating tothe abnormality monitoring process.

The data set generation unit 152 generates a data set composed of one ora plurality of pieces of input data (input data 1, input data 2, . . . ,input data n) for each frame from a monitoring target in accordance withframe information.

The feature extraction unit 154 extracts one or a plurality of featureamounts (a feature amount 1, a feature amount 2, . . . , a featureamount m) in accordance with processing determined in advance on thebasis of the data set which is generated by the data set generation unit152. Examples of the feature amount capable of being used include anaverage value, a maximum value, an intermediate value, a minimum value,standard deviation, and the like within a frame.

The score calculation unit 156 refers to learning data 130 prepared inadvance, and calculates a value indicating the degree of deviation(hereinafter also referred to as a “score”) with respect to the learningdata 130 of one or a plurality of feature amounts extracted by thefeature extraction unit 154. Here, the learning data 130 is composed offeature amounts labeled with a specific class (for example, normality orabnormality). Typically, the learning data 130 is composed of featureamounts during a normal state, and in this case, the score means a valueindicating the possibility of some kind of abnormality having occurredin a monitoring target.

As an example of an abnormality monitoring algorithm in the controldevice 100, a method of calculating a score corresponding to a featureamount on the basis of the degree of deviation of the feature amountwith respect to a value group in a hyperspace is adopted. In this case,the learning data 130 indicates a value group in a hyperspace, which isequivalent to a “model” indicating a monitoring target.

Examples of such a known abnormality monitoring method based on thedegree of deviation include a method of detecting an abnormality on thebasis of a shortest distance from each point to a value group (k-nearestneighbors algorithm), a local outlier factor (LoF) method of evaluatinga distance inclusive of a cluster including a value group, an isolationforest (iForest) method using a score calculated from a path length, andthe like.

In a case where the abnormality monitoring method based on the degree ofdeviation is adopted, the learning data 130 includes a group of featureamounts obtained during a normal state, and the control device 100calculates a score which is a value indicating the possibility of somekind of abnormality having occurred in a monitoring target on the basisof the degree of deviation of a target feature amount with respect to afeature amount group included in the learning data 130.

The determination unit 158 compares a score calculated by the scorecalculation unit 156 with a threshold determined in advance, anddetermines whether some kind of abnormality has occurred in a monitoringtarget. The determination unit 158 outputs a determination resultindicating whether some kind of abnormality has occurred.

With the above-described functional configuration, the abnormalitymonitoring process according to the present embodiment is realized.

In the functional block diagram shown in FIG. 5, the processes in thedata set generation unit 152 and the feature extraction unit 154 are forinput data which is a status value collected from a field or an internalstatus value calculated or updated by the execution of a controlarithmetic, and are collectively referred to as “input data processing50” below. On the other hand, the processes in the score calculationunit 156 and the determination unit 158 are for using results calculatedthrough the input data processing 50, and are collectively referred toas a “data use process 60” below.

E. Cyclic Execution of Program

Next, cyclic execution of a program in the control device 100 accordingto the present embodiment will be described.

FIG. 6 is a schematic diagram illustrating an example of cyclicexecution of a program in the control device 100 constituting thecontrol system 1 according to the present embodiment. In the controldevice 100, one or a plurality of processes is executed in units oftasks.

FIG. 6 shows an example in which three types of tasks, that is, theprimary fixed cycle task 70, the fixed cycle task 80, and a systemservice task 90, are executed. Each of the tasks is assumed to beexecuted by a separate core.

The primary fixed cycle task 70 which is executed by a core 1 includes aprocess to be executed with the highest priority in the control device100, and is cyclically executed for primary cycle 71 equivalent to acontrol cycle.

More specifically, the primary fixed cycle task 70 includes the I/Orefresh process 72, the user program execution process 74, and themotion control process 76. The I/O refresh process 72 is a process ofupdating input data and output data to and from a field. Meanwhile, inthe control device 100, since values referred to in a program aremanaged in the form of variables, the I/O refresh process 72 means aprocess of cyclically updating a value of a corresponding variable. Theuser program execution process 74 is a process of executing a process inaccordance with a command described in a user program 128. The userprogram 128 is arbitrarily created in accordance with a control target,and includes a sequence program or the like described using the languagespecified in IEC61131-3.

The motion control process 76 includes a process according to a motioncommand included in the user program 128 (typically, a process relatingto position control or speed control of a motor).

In the primary fixed cycle task 70, the I/O refresh process 72, the userprogram execution process 74, and the motion control process 76 are allexecuted for each primary cycle 71.

The fixed cycle task 80 which is executed by a core 2 includes a processhaving a lower priority than the primary fixed cycle task 70, and iscyclically executed for each fixed cycle 81 equivalent to an integermultiple of a control cycle. The fixed cycle 81 is equivalent to thelength of an integer multiple (two or more) of the primary fixed cycletask 70.

More specifically, similarly to the primary fixed cycle task 70, thefixed cycle task 80 includes the I/O refresh process 82, the userprogram execution process 84, and the motion control process 86. Theprocess contents of the I/O refresh process 82, the user programexecution process 84, and the motion control process 86 are the same asthe process contents of the I/O refresh process 72, the user programexecution process 74, and the motion control process 76, except thattheir execution cycles are different from each other.

The system service task 90 which is executed in a core 3 is executeddepending on the situation. Typically, the system service task 90 isallocated a process to be executed every time an event occurs. Morespecifically, the system service task 90 includes a data storage process92, a score calculation and determination process 94, a file transferprocess 96, and the like.

The data storage process 92 includes a process of storing one or aplurality of pieces of input data referred to by the data set generationunit 152 and one or a plurality of feature amounts generated by thefeature extraction unit 154 in a storage area such as the main storagedevice 106 or the secondary storage device 108. That is, the systemservice task 90 is allocated a process of storing data which isgenerated through the feature extraction process 164 allocated to theprimary fixed cycle task 70 and the feature extraction process 164allocated to the fixed cycle task 80.

The score calculation and determination process 94 is equivalent to aprocess in the score calculation unit 156 and the determination unit158. That is, the system service task 90 is allocated a process ofcalculating a predetermined index from data which is generated throughthe feature extraction process 164 allocated to the primary fixed cycletask 70 and the feature extraction process 164 allocated to the fixedcycle task 80.

The file transfer process 96 includes a process of transmitting the datastored in a storage area such as the main storage device 106 or thesecondary storage device 108 to the upper-level server 300 or the like.

F. Implementation Example of Abnormality Monitoring Process

Next, an implementation example in which the abnormality monitoringprocess is realized using the cyclic execution of a program shown inFIG. 6 will be described.

FIG. 7 is a schematic diagram illustrating an implementation examplerelating to the abnormality monitoring process in the control device 100constituting the control system 1 according to the present embodiment.Referring to FIG. 7, the processing in the data set generation unit 152and the feature extraction unit 154 (the input data processing 50) arebasically cyclically executed as the primary fixed cycle task 70.

More specifically, at least a portion of the data collection process 162regarding one or a plurality of pieces of input data (sensing dataobtained from a monitoring target) which is performed the data setgeneration unit 152 is included in the I/O refresh process 72. Inaddition, at least a portion of the feature extraction process 164 whichis performed by the feature extraction unit 154 is included in the userprogram execution process 74. A feature amount extracted through thefeature extraction process 164 is stored in the storage area of thecontrol device 100 together with identification information forspecifying the frame of a target (data storage).

As shown in FIG. 7, the processes relating to the collection of inputdata and the extraction of a feature amount are executed for eachprimary cycle 71. Meanwhile, since the feature amount is extracted onthe basis of data set composed of data of each frame, it is notnecessarily extracted for each primary cycle 71.

The feature amount which is used in the abnormality monitoring processis arbitrarily selected in accordance with a monitoring target. That is,in the abnormality monitoring process, any type of feature amount isextracted from any input data. For any input data, not only a statusvalue collected directly from a field but also the result of executionof predetermined preprocessing or the like may be used. Suchpreprocessing can be included in the primary fixed cycle task 70, or maybe included in the fixed cycle task 80.

FIG. 8 is a schematic diagram illustrating another implementationexample relating to the abnormality monitoring process in the controldevice 100 constituting the control system 1 according to the presentembodiment. Referring to FIG. 8, in the feature extraction process 164which is performed by the feature extraction unit 154, a feature amountis extracted using input data which is cyclically updated through thedata collection process 162 of the fixed cycle task 80 in addition toinput data which is cyclically updated through the data collectionprocess 162 of the primary fixed cycle task 70.

In the example shown in FIG. 8, the feature extraction process 164included in the primary fixed cycle task 70 is cyclically executed foreach primary cycle 71, whereas the update cycle of input data in thedata collection process 162 of the fixed cycle task 80 is set to thefixed cycle 81. As a result, a process of extracting a feature amountfrom input data through the data collection process 162 of the fixedcycle task 80 is executed in duplicate. This means that a process ofextracting an unnecessary feature amount is executed.

In the control device 100, it is necessary to repeatedly execute eachtask for each specified cycle using finite computing resources, andthere is a potential demand to eliminate inefficient processing as shownin FIG. 8 as much as possible. That is, there is a demand to reduce aninfluence on control performance which is provided by the control device100.

In response to such a demand, as will be described, the control device100 according to the present embodiment provides a data processingstructure that makes it possible to optimize the update of input dataand the extraction of a feature amount for each of a plurality of tasksexecuted in parallel.

FIG. 9 is a schematic diagram illustrating still another implementationexample relating to the abnormality monitoring process in the controldevice 100 constituting the control system 1 according to the presentembodiment. In the implementation example shown in FIG. 9, the featureextraction process 164 which is performed by the feature extraction unit154 is also included in the user program execution process 84 of thefixed cycle task 80. The feature extraction process 164 of the userprogram execution process 84 extracts a feature amount from input datawhich is cyclically updated through the data collection process 162 ofthe fixed cycle task 80.

That is, in the implementation example shown in FIG. 9, the input dataprocessing 50 using input data which is updated for each primary cycle71 in the primary fixed cycle task 70 is executed as the same primaryfixed cycle task 70, and the input data processing 50 using input datawhich is updated for each fixed cycle 81 in the fixed cycle task 80 isexecuted as the same fixed cycle task 80.

By adopting the structure as shown in FIG. 9, it is possible to realizea process of efficiently extracting a feature amount. By efficientlyusing computing resources, the possibility of the cycle of each taskbeing exceeded or the like can be reduced.

G. Data Processing

Next, an example of data processing for realizing a process ofextracting a feature amount for each task as shown in FIG. 9 will bedescribed.

FIG. 10 is a schematic diagram illustrating data processingcorresponding to the implementation example of the abnormalitymonitoring process shown in FIG. 8. Referring to FIG. 10, as an example,it is assumed that the I/O unit 124 cyclically acquires three pieces ofinput data (IN_01, IN_02, and IN_03) from a field.

Here, it is assumed that the input data IN_01 is referred to in theprimary fixed cycle task 70, the input data IN_02 is referred to in thefixed cycle task 80, and the input data IN_03 is referred to in theprimary fixed cycle task 70 and the fixed cycle task 80.

The input data acquired by the I/O unit 124 is cyclically transferred tothe I/O memory of the internal bus controller 122. That is, the contentof the I/O memory of the internal bus controller 122 is cyclicallyupdated. Here, the input data IN_01, IN_02, and IN_03 are updated foreach primary cycle 71.

In the primary fixed cycle task 70, the input data IN_02 required onlyfor feature amount extraction is also transferred to a buffer inaddition to the input data IN_01 and IN_03 required for feature amountextraction and a control arithmetic. The transfer thereof to the bufferis repeatedly executed for each primary cycle 71. A feature amount_01, afeature amount_02, and a feature amount_03 are extracted from the inputdata IN_01, IN_02, and IN_03 transferred to the buffer, and are furtherwritten to a buffer within the main storage device 106 that is capableof being referred to by the system service task 90. In the systemservice task 90, the data storage process 92 is executed by referring tothe buffer within the main storage device 106.

On the other hand, in the fixed cycle task 80, the input data IN_02 andIN_03 required for a control arithmetic are transferred to the buffer.The control arithmetic is executed on the basis of the input data IN_02and IN_03 transferred to the buffer.

In the data processing shown in FIG. 10, the input data IN_02 istransferred from the I/O memory of the internal bus controller 122 tothe buffer only for feature amount extraction in the primary fixed cycletask 70, which leads to inefficient use of computing resources.

FIG. 11 is a schematic diagram illustrating data processingcorresponding to the implementation example of the abnormalitymonitoring process shown in FIG. 9. In contrast to the data processingshown in FIG. 10, in the data processing shown in FIG. 11, the inputdata IN_02 is referred to only in the fixed cycle task 80. Therefore,the input data IN_02 is not transferred to the buffer in the primaryfixed cycle task 70. That is, the input data IN_02 is not transferred tothe buffer only in the fixed cycle task 80. As a result, the cycle oftransfer of the input data IN_02 to the buffer is not the primary cycle71, but the fixed cycle 81.

In the fixed cycle task 80, the feature amount_02 is extracted from theinput data IN_02 transferred to the buffer, and is further written tothe buffer within the main storage device 106 that is capable of beingreferred to by the system service task 90.

In this manner, regarding the input data IN_02 which is not referred toin a control arithmetic in the primary fixed cycle task 70, processingsuch as the transfer thereof to the buffer in the primary cycle 71 orthe extraction of a feature amount in the primary fixed cycle task 70 isnot performed, and the feature amount is extracted in the same fixedcycle 81 as the cycle of transfer to the buffer. Thereby, it is possibleto avoid an inefficient feature amount extraction process or the like,and to realize efficient use of computing resources.

H. User Interface

Next, an example of a user interface for realizing the abnormalitymonitoring process shown in FIGS. 8 to 11 will be described.

As shown in FIGS. 8 to 11, in a case where the input data processing 50is allocated to each of tasks which are cyclically executed in differentcycles, it is necessary to register the data collection process 162 andthe feature extraction process 164 corresponding to each piece of inputdata in the same task. For example, for the same input data, it isnecessary to avoid a setting in which the data collection process 162 isincluded in the primary fixed cycle task 70 and the feature extractionprocess 164 is included in the fixed cycle task 80.

That is, in a case where the input data processing 50 such as theextraction of each feature amount is attempted to be executed in aplurality of different cycles, it is preferable to provide a user with astructure that can easily set in which cycle the extraction of eachfeature amount becomes efficient.

Consequently, the control system 1 according to the present embodimentprovides a user interface capable of optimizing the allocation of theinput data processing 50 in accordance with input data to be referredto. In the control system 1 according to the present embodiment, a userinterface for performing various settings is typically provided by thesupport device 200.

FIG. 12 is a diagram illustrating an example of a user interface screenwhich is provided by the support device 200 constituting the controlsystem 1 according to the present embodiment. A user interface screen250 shown in FIG. 12 accepts various settings. When a settingregistration button 252 is selected, the user interface screen 250enters a setting acceptance state of input data (registration variable)used for the input data processing 50.

A user sets input data (variable) used for the extraction of a featureamount in a registration variable name setting field 256. In this case,the user sets the data type of the set input data in a data type settingfield 258. Meanwhile, the data type of the data type setting field 258may be automatically reflected corresponding to the set input data byreferring to setting information or the like.

Meanwhile, it is assumed that INPUT1, INPUT2, and INPUT3 shown in FIG.12 correspond to the input data IN_01, IN_02, and IN_03 shown in FIGS.10 and 11, respectively.

The user interface screen 250 has a cycle setting button 260, and whenthe cycle setting button 260 is selected, it is possible to set whichcycle (task) is allocated input data that can be allocated to any of aplurality of different cycles (tasks).

FIG. 13 is a diagram illustrating an example of a user interface screen270 in a case where the cycle setting button 260 of the user interfacescreen 250 of FIG. 12 is selected. The user interface screen 270 shownin FIG. 13 displays input data (variables) that can be allocated totasks which are executed in a plurality of different cycles, and acceptsselection of which task the input data is allocated to.

More specifically, the user interface screen 270 includes a targetvariable display 272 that displays input data which is a target and atask selection field 274. In the task selection field 274, as anexample, (1) default setting and (2) control resource securing settingcan be selected. When (1) default setting is selected, the input dataprocessing 50 of input data which is a target is allocated to theprimary fixed cycle task 70. On the other hand, when (2) controlresource securing setting is selected, it is allocated to the fixedcycle task 80. When any of them is selected and then an OK button 276 isselected, the setting for the input data which is a target is updated,and then the user interface screen returns to the user interface screen250 shown in FIG. 12.

In this manner, the input data (variables) allocated to any of taskswhich are executed in a plurality of different cycles can be arbitrarilyset by a user in accordance with a monitoring target or the like. Thatis, in a case where the data collection process 162 (a second datacollection process) and the corresponding feature extraction process 164(a second data processing process) can be allocated to both the primaryfixed cycle task 70 and the fixed cycle task 80, the support device 200accepts a setting of which task these processes are allocated to.

Referring back to FIG. 12, the user interface screen 250 has an applybutton 262, and the apply button 262 is selected, so that it isdetermined which task the input data processing 50 for each piece ofinput data is allocated to on the basis of a relationship between theinput data referred to by the process allocated to each task and theinput data which is set as a target of the input data processing 50.

In this case, content which is set on the user interface screen 270shown in FIG. 13 is preferentially reflected. A user is notified of theallocation result.

FIG. 14 is a diagram illustrating an example of a user interface screen280 in a case where the apply button 262 of the user interface screen250 of FIG. 12 is selected. The user interface screen 280 shown in FIG.14 includes a primary fixed cycle task field 282 that displays inputdata allocated to the primary fixed cycle task 70 and a fixed cycle taskfield 284 that displays input data allocated to the fixed cycle task 80.

Input data allocated to each task is visually displayed in the primaryfixed cycle task field 282 and the fixed cycle task field 284. Further,a user can change a task which is an allocation destination for eachpiece of input data through an easy operation. For example, it ispossible to change a task which is an allocation destination for eachpiece of input data through a user's drag operation.

That is, the support device 200 accepts a change in the allocationdestination task of the data collection process 162 (the second datacollection process) and the corresponding feature extraction process 164(the second data processing process).

Finally, a task which is an allocation destination for each piece ofinput data is determined by a user selecting an OK button 286.

I. Modification Example

In the above description, the feature extraction process 164 used forthe abnormality monitoring process has been illustrated as an example ofthe data processing process, but the content of the data processingprocess is not limited thereto.

For example, another example of the data processing process is a unitconversion process. The status value acquired from a field by the fielddevice group 10 is sometimes held as a status value standardized in apredetermined range (for example, 0 to 1023 digits) due to theprocessing characteristics of an analog/digital converter or the like.In many cases, it is preferable to convert the value standardized insuch a predetermined range into the physical quantity (such as, forexample, temperature, rotational speed, or flow velocity) of an actualfield before processing.

Consequently, the unit conversion process may include a process ofconverting the status value (input data) managed by the control device100 into an actual physical quantity of a field and then providing it toan internal process or an external device. In this manner, the dataprocessing process may include a process of converting the input datacollected through the data collection process 162 into a correspondingphysical quantity.

In addition, another example of the data processing process ispreprocessing of data transfer or the like. For example, assuming thatthe control device 100 is used as the gateway of the Internet of Things(IoT), it is necessary to transmit information specified in a dataformat adapted to the data exchange partner. In such a case, it isnecessary to form the status value (input data) managed by the controldevice 100 in accordance with a predetermined format before sending out.In this manner, as an example of the data processing process, a dataforming process may be included.

As a specific example of the data forming process, a process ofsequentially arranging information determined in advance in an orderdetermined in advance is assumed. In this manner, the data processingprocess may include a process of forming one or a plurality of pieces ofinput data collected through the data collection process 162 into apredetermined format.

J. Addition

The present embodiment as described above includes the followingtechnical ideas.

[Configuration 1]

A control system including:

-   -   a control device (100) that executes a control arithmetic for        controlling a control target; and    -   a support device (200) that sets content of the control        arithmetic which is executed by the control device,    -   wherein the control device includes a first arithmetic unit        (1021) for cyclically executing a first task (70) to which one        or a plurality of processes is allocated in a first control        cycle (71) and a second arithmetic unit (1022) for cyclically        executing a second task (80) to which one or a plurality of        processes is allocated in a second control cycle (81) that is        longer than the first control cycle,    -   the control arithmetic includes a data collection process (162)        of collecting input data that is capable of being referred to by        the control device and a data processing process (164) of        processing the collected input data to generate new data,    -   a first data collection process with first input data as a        target and a corresponding first data processing process are        allocated to the first task, and    -   a second data collection process with second input data as a        target and a corresponding second data processing process are        allocated to either of the first task and the second task in        accordance with a setting via the support device.

[Configuration 2]

The control system according to configuration 1, wherein the controldevice further includes a third arithmetic unit (1023) for executing athird task (90) to which one or a plurality of processes is allocateddepending on a situation.

[Configuration 3]

The control system according to configuration 2, wherein a process (92)of storing data which is generated through the first data processingprocess and the second data processing process is allocated to the thirdtask.

[Configuration 4]

The control system according to configuration 2 or 3, wherein a process(94) of calculating a predetermined index from data which is generatedthrough the first data processing process and the second data processingprocess is allocated to the third task.

[Configuration 5]

The control system according to any one of configurations 1 to 4,wherein the data processing process includes a process (164) ofcalculating a feature amount from a plurality of pieces of input datacollected through the data collection process.

[Configuration 6]

The control system according to any one of configurations 1 to 5,wherein the data processing process includes a process of converting theinput data collected through the data collection process into acorresponding physical quantity.

[Configuration 7]

The control system according to any one of configurations 1 to 6,wherein the data processing process includes a process of forming one ora plurality of pieces of input data collected through the datacollection process into a predetermined format.

[Configuration 8]

The control system according to any one of configurations 1 to 7,wherein, in a case where the second data collection process and thesecond data processing process are capable of being allocated to boththe first task and the second task, the support device accepts (270) asetting of which task these processes are allocated to.

[Configuration 9]

The control system according to configuration 8, wherein the supportdevice accepts (280) a change in an allocation destination task of thesecond data collection process and the second data processing process.

[Configuration 10]

A control device (100) that executes a control arithmetic forcontrolling a control target, including:

-   -   a first arithmetic unit (1021) for cyclically executing a first        task (70) to which one or a plurality of processes is allocated        in a first control cycle (71); and    -   a second arithmetic unit (1022) for cyclically executing a        second task (80) to which one or a plurality of processes is        allocated in a second control cycle (81) that is longer than the        first control cycle,    -   wherein the control arithmetic includes a data collection        process (162) of collecting input data that is capable of being        referred to by the control device and a data processing process        (164) of processing the collected input data to generate new        data,    -   a first data collection process with first input data as a        target and a corresponding first data processing process are        allocated to the first task, and    -   a second data collection process with second input data as a        target and a corresponding second data processing process are        allocated to either of the first task and the second task in        accordance with an external setting.

K. Advantage

According to the control system of the present embodiment, the datacollection process 162 and the feature extraction process 164 (the dataprocessing process) can be independently allocated to both the primaryfixed cycle task 70 and the fixed cycle task 80 which are cyclicallyexecuted, and thus it is possible to realize efficient processing byallocating these processes to a more appropriate task in accordance withprocessing performance required for input data to be processed, theattribute of the input data, or the like.

In addition, according to the control system of the present embodiment,in a case where the above processes can be allocated to both the primaryfixed cycle task 70 and the fixed cycle task 80, a user interface fornotifying a user to that effect is prepared, and thus it is possible toprevent the data collection process 162 and the corresponding featureextraction process 164 (the data processing process) from beingerroneously allocated to a different task.

It is noted that the embodiment disclosed herein is merely illustrativein all aspects and should not be recognized as being restrictive. Thescope of the present invention is defined by the scope of claims ratherthan the description of the embodiment stated above, and is intended toinclude meanings equivalent to the scope of claims and all modificationswithin the scope.

REFERENCE SIGNS LIST

-   -   1 Control system    -   2 First field bus    -   4 Second field bus    -   6 Local network    -   10 Field device group    -   12 Remote I/O device    -   14 Relay group    -   16, 124 I/O unit    -   18 Image sensor    -   20 Camera    -   22 Servo driver    -   24 Servo motor    -   50 Input data processing    -   60 Data use process    -   70, 80 Fixed cycle task    -   71 Primary cycle    -   72, 82 I/O Refresh process    -   74, 84 User program execution process    -   76, 86 Motion control process    -   81 Fixed cycle    -   90 System service task    -   92 Data storage process    -   94 Determination process    -   96 File transfer process    -   100 Control device    -   102, 202 Processor    -   104 Chipset    -   106, 206 Main storage device    -   108, 208 Secondary storage device    -   110, 214 Local network controller    -   112, 212 USB controller    -   114 Memory card interface    -   116 Memory card    -   118, 120 Field bus controller    -   122 Internal bus controller    -   126 System program    -   128 User program    -   130 Learning data    -   152 Data set generation unit    -   154 Feature extraction unit    -   156 Score calculation unit    -   158 Determination unit    -   162 Data collection process    -   164 Feature extraction process    -   200 Support device    -   204 Drive    -   205 Storage medium    -   216 Input unit    -   218 Display unit    -   220 Bus    -   230 Data mining tool    -   240 Setting tool    -   250, 270, 280 User interface screen    -   252 Setting registration button    -   256 Registration variable name setting field    -   258 Data type setting field    -   260 Cycle setting button    -   262 Apply button    -   272 Target variable display    -   274 Task selection field    -   276, 286 OK button    -   282, 284 Fixed cycle task field    -   300 Upper-level server    -   400 HMI    -   1021, 1022, 1023, 1024 Core

1. A control system comprising: a control device that executes a controlarithmetic for controlling a control target; and a support device thatsets content of the control arithmetic which is executed by the controldevice, wherein the control device includes a first arithmetic unit forcyclically executing a first task to which one or a plurality ofprocesses is allocated in a first control cycle and a second arithmeticunit for cyclically executing a second task to which one or a pluralityof processes is allocated in a second control cycle that is longer thanthe first control cycle, the control arithmetic includes a datacollection process of collecting input data that is capable of beingreferred to by the control device and a data processing process ofprocessing the collected input data to generate new data, a first datacollection process with first input data as a target and a correspondingfirst data processing process are allocated to the first task, and asecond data collection process with second input data as a target and acorresponding second data processing process are allocated to either ofthe first task and the second task in accordance with a setting via thesupport device.
 2. The control system according to claim 1, wherein thecontrol device further includes a third arithmetic unit for executing athird task to which one or a plurality of processes is allocateddepending on a situation.
 3. The control system according to claim 2,wherein a process of storing data which is generated through the firstdata processing process and the second data processing process isallocated to the third task.
 4. The control system according to claim 2,wherein a process of calculating a predetermined index from data whichis generated through the first data processing process and the seconddata processing process is allocated to the third task.
 5. The controlsystem according to claim 1, wherein the data processing processincludes a process of calculating a feature amount from a plurality ofpieces of input data collected through the data collection process. 6.The control system according to claim 1, wherein the data processingprocess includes a process of converting the input data collectedthrough the data collection process into a corresponding physicalquantity.
 7. The control system according to claim 1, wherein the dataprocessing process includes a process of forming one or a plurality ofpieces of input data collected through the data collection process intoa predetermined format.
 8. The control system according to claim 1,wherein, in a case where the second data collection process and thesecond data processing process are capable of being allocated to boththe first task and the second task, the support device accepts a settingof which task these processes are allocated to.
 9. The control systemaccording to claim 8, wherein the support device accepts a change in anallocation destination task of the second data collection process andthe second data processing process.
 10. A control device that executes acontrol arithmetic for controlling a control target, comprising: a firstarithmetic unit for cyclically executing a first task to which one or aplurality of processes is allocated in a first control cycle; and asecond arithmetic unit for cyclically executing a second task to whichone or a plurality of processes is allocated in a second control cyclethat is longer than the first control cycle, wherein the controlarithmetic includes a data collection process of collecting input datathat is capable of being referred to by the control device and a dataprocessing process of processing the collected input data to generatenew data, a first data collection process with first input data as atarget and a corresponding first data processing process are allocatedto the first task, and a second data collection process with secondinput data as a target and a corresponding second data processingprocess are allocated to either of the first task and the second task inaccordance with an external setting.
 11. The control system according toclaim 3, wherein a process of calculating a predetermined index fromdata which is generated through the first data processing process andthe second data processing process is allocated to the third task.